U.S. patent application number 12/529550 was filed with the patent office on 2010-04-22 for target turning vehicle speed setting apparatus and braking/driving force control apparatus.
This patent application is currently assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA. Invention is credited to Yoshio Ito.
Application Number | 20100100296 12/529550 |
Document ID | / |
Family ID | 39738112 |
Filed Date | 2010-04-22 |
United States Patent
Application |
20100100296 |
Kind Code |
A1 |
Ito; Yoshio |
April 22, 2010 |
TARGET TURNING VEHICLE SPEED SETTING APPARATUS AND BRAKING/DRIVING
FORCE CONTROL APPARATUS
Abstract
A target turn vehicle speed setting device for setting a target
turn vehicle speed according to the corner radii obtained from
external information. A reference radius used for setting the
target turn vehicle speed is set to a minimum value of the corner
radii of points included in a corner successively obtained from the
external information. When the values of the corner radii of the
points decrease, the update of the reference radii is started. When
the values of the corner radii increase, the update of the
reference radii is ended. The target turn vehicle speed can be more
appropriately determined.
Inventors: |
Ito; Yoshio; (shizuoka-ken,
JP) |
Correspondence
Address: |
OBLON, SPIVAK, MCCLELLAND MAIER & NEUSTADT, L.L.P.
1940 DUKE STREET
ALEXANDRIA
VA
22314
US
|
Assignee: |
TOYOTA JIDOSHA KABUSHIKI
KAISHA
TOYOTA-SHI
JP
|
Family ID: |
39738112 |
Appl. No.: |
12/529550 |
Filed: |
February 26, 2008 |
PCT Filed: |
February 26, 2008 |
PCT NO: |
PCT/JP2008/053290 |
371 Date: |
September 2, 2009 |
Current U.S.
Class: |
701/70 |
Current CPC
Class: |
B60W 2552/30 20200201;
B60W 2720/10 20130101; B60T 2210/36 20130101; B60W 30/143 20130101;
B60W 40/105 20130101; B60T 2201/16 20130101; B60W 2552/20 20200201;
B60T 2210/24 20130101 |
Class at
Publication: |
701/70 |
International
Class: |
G06F 7/00 20060101
G06F007/00 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 2, 2007 |
JP |
2007-053391 |
Claims
1. A target turning vehicle speed setting apparatus for setting a
target turning vehicle speed based on a corner radius obtained from
external information, the apparatus comprising: an input unit that
receives external information including a corner radius in front of
a vehicle from an outside; and a control unit that sets a target
turning vehicle speed based on the corner radius received by the
input unit, wherein when the control unit sets the target turning
vehicle speed a reference radius is set to a minimum value of
values of the corner radius at a plurality of points included in a
corner obtained from the external information at any time.
2. The target turning vehicle speed setting apparatus according to
claim 1, wherein the control unit starts an update of the reference
radius when the value of the corner radius at the plurality of
points included in the corner obtained from the external
information at any time decreases, and the control unit finishes
the update of the reference radius when the value of the corner
radius at the plurality of points included in the corner obtained
from the external information at any time increases.
3. The target turning vehicle speed setting apparatus according to
claim 2, wherein the control unit finishes the update of the
reference radius without adopting the value of zero, after starting
the update of the reference radius, when the value of the corner
radius at the plurality of points included in the corner obtained
from the external information at any time becomes zero.
4. The target turning vehicle speed setting apparatus according to
claim 2, wherein the control unit starts the update of the
reference radius, before starting the update of the reference
radius, when the value of the corner radius at the plurality of
points included in the corner obtained from the external
information at any time is not larger than a value set in
advance.
5. A braking/driving force control apparatus for setting a target
turning vehicle speed based on a corner radius obtained from
external information and controlling braking/driving force based on
the target turning vehicle speed, the apparatus comprising: an
input unit that receives external information including a corner
radius in front of a vehicle from an outside; a control unit that
sets a target turning vehicle speed based on the corner radius
received by the input unit; and a deceleration control device
capable of controlling deceleration of the vehicle, wherein the
control unit uses a target turning vehicle speed set by the target
turning vehicle speed setting apparatus according to claim 1 as the
target turning vehicle speed.
6. The braking/driving force control apparatus according to claim
5, wherein the control unit permits a braking/driving force control
based on the target turning vehicle speed from after the update of
the reference radius is finished.
7. The target turning vehicle speed setting apparatus according to
claim 3, wherein the control unit starts the update of the
reference radius, before starting the update of the reference
radius, when the value of the corner radius at the plurality of
points included in the corner obtained from the external
information at any time is not larger than a value set in
advance.
8. A target turning vehicle speed setting method for setting a
target turning vehicle speed based on a corner radius obtained from
external information, the method comprising: receiving external
information including a corner radius in front of a vehicle from an
outside; and setting a target turning vehicle speed based on the
received corner radius, wherein a reference radius when setting the
target turning vehicle speed is set to a minimum value of values of
the corner radius at a plurality of points included in a corner
obtained from the external information at any time.
9. The target turning vehicle speed setting method according to
claim 8, wherein an update of the reference radius is started when
the value of the corner radius at the plurality of points included
in the corner obtained from the external information at any time
decreases, and the update of the reference radius is finished when
the value of the corner radius at the plurality of points included
in the corner obtained from the external information at any time
increases.
10. The target turning vehicle speed setting method according to
claim 9, wherein the update of the reference radius is finished
without adopting the value of zero, after starting the update of
the reference radius, when the value of the corner radius at the
plurality of points included in the corner obtained from the
external information at any time becomes zero.
11. The target turning vehicle speed setting method according to
claim 9, wherein the update of the reference radius is started,
before starting the update of the reference radius, when the value
of the corner radius at the plurality of points included in the
corner obtained from the external information at any time is not
larger than a value set in advance.
12. The target turning vehicle speed setting method according to
claim 8, further comprising controlling braking/driving force based
on the target turning vehicle speed.
13. The target turning vehicle speed setting method according to
claim 12, wherein a braking/driving force control based on the
target turning vehicle speed is permitted from after the update of
the reference radius is finished.
14. The target turning vehicle speed setting method according to
claim 10, wherein the update of the reference radius is started,
before starting the update of the reference radius, when the value
of the corner radius at the plurality of points included in the
corner obtained from the external information at any time is not
larger than a value set in advance.
Description
TECHNICAL FIELD
[0001] The present invention relates to a target turning vehicle
speed setting apparatus and a braking/driving force control
apparatus, and particularly relates to the target turning vehicle
speed setting apparatus and the braking/driving force control
apparatus for setting a target turning vehicle speed when a vehicle
travels a corner based on radius information of a plurality of
points included in the corner transmitted from the outside at any
time.
BACKGROUND ART
[0002] A technique to set the target turning vehicle speed when the
vehicle travels the corner based on the radius information of the
corner in front of the vehicle is known. For example, Japanese
Patent Application Laid-open No. H10-184903 (Patent Document 1)
discloses the technique to detect node data from a navigation
system device to obtain a node radius for each node, obtain a
recommended travel speed in each node from the node radius, set a
deceleration curve for each node, and determine an optimal gear
position suitable for decelerating to the recommended travel speed
from the deceleration curve.
[0003] Patent Document 1: Japanese Patent Application Laid-open No.
H10-184903
DISCLOSURE OF INVENTION
Problem to be Solved by the Invention
[0004] The above-described patent document 1 does not disclose a
method of calculating a target turning vehicle speed (recommended
travel speed) in a case in which the radius information is
momentarily detected with respect to one corner. When calculating
the target turning vehicle speed for each momentarily detected
radius information, if the detected radius changes from large to
small then to large again, for example, the calculated target
turning vehicle speed also changes from large to small then to
large again, so that an effect of deceleration control carried out
based on the target turning vehicle speed might change, thereby
deteriorating drivability. It is desired that a more appropriate
target turning vehicle speed is set.
[0005] An object of the present invention is to provide a target
turning vehicle speed setting apparatus and a braking/diving force
control apparatus capable of setting a more appropriate target
turning vehicle speed.
Means for Solving Problem
[0006] A target turning vehicle speed setting apparatus according
to the present invention is a target turning vehicle speed setting
apparatus for setting a target turning vehicle speed based on a
corner radius obtained from external information, wherein a
reference radius when setting the target turning vehicle speed is
set to a minimum value of values of the corner radius at a
plurality of points included in a corner obtained from the external
information at any time.
[0007] In the target turning vehicle speed setting apparatus
according to the present invention, an update of the reference
radius is started when the value of the corner radius at the
plurality of points included in the corner obtained from the
external information at any time decreases, and the update of the
reference radius is finished when the value of the corner radius at
the plurality of points included in the corner obtained from the
external information at any time increases.
[0008] In the target turning vehicle speed setting apparatus
according to the present invention, the update of the reference
radius is finished without adopting the value of zero, after
starting the update of the reference radius, when the value of the
corner radius at the plurality of points included in the corner
obtained from the external information at any time becomes
zero.
[0009] In the target turning vehicle speed setting apparatus
according to the present invention, the update of the reference
radius is started, before starting the update of the reference
radius, when the value of the corner radius at the plurality of
points included in the corner obtained from the external
information at any time is not larger than a value set in
advance.
[0010] A braking/driving force control apparatus according to the
present invention is a braking/driving force control apparatus for
setting a target turning vehicle speed based on a corner radius
obtained from external information and controlling braking/driving
force based on the target turning vehicle speed, wherein a target
turning vehicle speed set by the target turning vehicle speed
setting apparatus is used as the target turning vehicle speed.
[0011] In the braking/driving force control apparatus according to
the present invention, a braking/driving force control based on the
target turning vehicle speed is permitted from after the update of
the reference radius is finished.
EFFECT OF THE INVENTION
[0012] The target turning vehicle speed setting apparatus according
to the present invention provides an effect that a more appropriate
target turning vehicle speed can be set.
BRIEF DESCRIPTION OF DRAWINGS
[0013] FIG. 1 is a flowchart illustrating operation of a first
embodiment of a braking/driving force control apparatus according
to the present invention.
[0014] FIG. 2 is a time chart illustrating the operation of the
first embodiment of the braking/driving force control apparatus
according to the present invention.
[0015] FIG. 3 is a time chart illustrating operation of a second
embodiment of the braking/driving force control apparatus according
to the present invention.
[0016] FIG. 4 is a time chart illustrating operation of a third
embodiment of the braking/driving force control apparatus according
to the present invention.
[0017] FIG. 5 is a schematic configuration diagram of the first
embodiment of the braking/driving force control apparatus according
to the present invention.
[0018] FIG. 6 is a view for illustrating a method of obtaining
second deceleration in the first embodiment of the braking/driving
force control apparatus according to the present invention.
EXPLANATIONS OF LETTERS OR NUMERALS
[0019] 10 automatic transmission [0020] 40 engine [0021] 90
acceleration sensor [0022] 95 navigation system device [0023] 113
accelerator opening sensor [0024] 114 throttle opening sensor
[0025] 116 engine rotation number sensor [0026] 122 vehicle speed
sensor [0027] 123 shift position sensor [0028] 130 control circuit
[0029] 131 CPU [0030] 133 ROM [0031] 200 brake device [0032] 230
brake control circuit [0033] 401 distance to corner entrance [0034]
402 road turning-radius transmitted from navigation system device
[0035] 403 minimum turning-radius capture process precondition
[0036] 404 minimum turning-radius capture process permission
judgment [0037] 405 minimum turning-radius [0038] 406 actual
vehicle speed [0039] 407 target turning vehicle speed [0040] 408
target deceleration [0041] G1 first deceleration [0042] G2 second
deceleration [0043] L distance to corner entrance [0044] r1 first
predetermined value [0045] r2 second predetermined value
BEST MODE(S) FOR CARRYING OUT THE INVENTION
[0046] Hereinafter, one embodiment of a braking/driving force
control apparatus according to the present invention is described
in detail with reference to drawings.
First Embodiment
[0047] A first embodiment is described with reference to FIGS. 1, 2
and 5.
[0048] The present embodiment relates to the braking/driving force
control apparatus that receives a road turning-radius R of a corner
not larger than a predetermined turning-radius in a forward search
range from a navigation system device, obtains a target turning
vehicle speed Vt from the road turning-radius R and recommended
turning lateral G, and calculates target deceleration based on a
current vehicle speed V0, the target turning vehicle speed Vt, and
a distance L to an entrance of the corner, thereby performing
deceleration control by a brake and a shift down of a
transmission.
[0049] In the above-described braking/driving force control
apparatus, when calculating the target turning vehicle speed Vt and
the target deceleration from the road turning-radius R and the
recommended turning lateral G, by directly using information of the
road turning-radius R, which momentarily changes with respect to
one corner (radius information according to a shape of the corner)
transmitted from the navigation system device at a predetermined
distance before the corner, if the road turning-radius R changes,
for example, from large to small then to large again, the target
turning vehicle speed Vt changes from large to small then to large
again, and the target deceleration changes from small to large then
to small again, so that an effect of the deceleration control
changes depending on detection timing of deceleration intention
(accelerator off or brake on), which is a trigger condition of the
deceleration control.
[0050] Therefore, in the present embodiment, a minimum
turning-radius is captured from road turning-radius R information,
which momentarily changes with respect to one corner (road
turning-radius R information according to the corner shape), and
the target turning vehicle speed Vt and the target deceleration are
calculated from the minimum turning-radius and the recommended
turning lateral G.
[0051] Also, in order to prevent the target turning vehicle speed
Vt from changing, it is configured that the deceleration control is
not carried out during a time period from a start of capture of the
road turning-radius R to completion of the capture of the minimum
turning-radius (refer to a time period between T2 and T3 in FIG. 2
to be described later).
[0052] At least the following three points are characteristics of a
method of capturing the minimum turning-radius of the present
embodiment.
[0053] (1) An ECU load increases always when carrying out a capture
process of the minimum turning-radius, so that it is judged to
permit the capture process of the above-described minimum
turning-radius only when the road turning-radius R transmitted from
the navigation system device is within a predetermined value set in
advance (refer to a second predetermined value r2 in FIG. 2 to be
described later).
[0054] (2) When a corner interval is small, the information of the
road turning-radius R is continuously transmitted, so that the
capture process of the minimum turning-radius starts when the
transmitted road turning-radius R decreases. However, there is a
case in which the information of a small road turning-radius R is
suddenly transmitted (refer to FIG. 3 to be described in a second
embodiment) such as when recovering from communication failure (for
example, when GPS information cannot be received by the navigation
system device), so that the capture process of the minimum
turning-radius starts when the road turning-radius R is within the
predetermined value set in advance and when the capture process of
the minimum turning-radius is permitted (step S011 in FIG. 1 to be
described later) (step S015).
[0055] (3) Judgment of the capture completion of the minimum
turning-radius is performed when the transmitted road
turning-radius R increases (step S012). However, there is a case in
which the information of the road turning-radius R suddenly
disappears, and turning-radius R=0 due to the communication failure
(refer to FIG. 4 to be described in a third embodiment), so that
the capture process of the minimum turning-radius is forbidden at
the time of the communication failure and update of the minimum
turning-radius is stopped (step S002 (No).fwdarw.step
S006.fwdarw.step S007 (No).fwdarw.step S013).
[0056] As a configuration of the present embodiment is provided
with means for detecting road shape information (a corner R and a
distance from the subject vehicle to the corner) in front of the
vehicle, and at least one deceleration control device such as an
automatic brake actuator, a regenerative brake, an automatic
transmission capable of down shift control, and an electronic
control throttle, capable of controlling deceleration of the
subject vehicle as described below in detail.
[0057] In FIG. 5, reference numerals 10, 40 and 200 represent a
stepped automatic transmission, an engine, and a brake device,
respectively. The automatic transmission 10 is capable of providing
five speeds by controlling hydraulic pressure by
energization/non-energization to electromagnetic valves 121a, 121b
and 121c. Although three electromagnetic valves 121a, 121b and 121c
are shown in FIG. 5, the number of the electromagnetic valves is
not limited to three. The electromagnetic valves 121a, 121b and
121c are driven by a signal from a control circuit 130.
[0058] An accelerator opening sensor 113 detects accelerator
opening. A throttle opening sensor 114 detects opening of a
throttle valve 43 arranged in an air intake path 41 of the engine
40. An engine rotation number sensor 116 detects a rotation number
of the engine 40. A vehicle speed sensor 122 detects the rotation
number of an output shaft 120c of the automatic transmission 10,
which is in proportion to the vehicle speed. A shift position
sensor 123 detects a shift position. A pattern select switch 117 is
used when instructing a transmission pattern. An acceleration
sensor 90 detects deceleration (decelerating acceleration) of the
vehicle.
[0059] A fundamental function of a navigation system device 95 is
to guide the own vehicle to a predetermined destination, and the
navigation system device 95 is provided with an arithmetic
processing unit, an information storing medium in which information
required for travel of the vehicle (such as a map, a straight
pathway, a curve, an upslope/downslope and an express way) is
stored, a first information detection device including a
geomagnetic sensor, a gyrocompass and a steering sensor, for
detecting a current position of the subject vehicle and a road
condition by autonomous navigation, and a second information
detection device including a GPS antenna and a GPS receiver, for
detecting the current position of the own vehicle and the road
condition by electric navigation.
[0060] The control circuit 130 inputs signals indicating detection
results of the accelerator opening sensor 113, the throttle opening
sensor 114, the engine rotation number sensor 116, the vehicle
speed sensor 122, the shift position sensor 123 and the
acceleration sensor 90, inputs a signal indicating a switching
state of the pattern select switch 117, and inputs a signal from
the navigation system device 95.
[0061] The control circuit 130 is composed of a well-known
microcomputer, and is provided with a CPU 131, a RAM 132, a ROM
133, an input port 134, an output port 135 and a common bus 136.
The signals from the above-described sensors 113, 114, 116, 123 and
90, the signal from the above-described switch 117, and the signal
from the navigation system device 95 are input to the input port
134. Electromagnetic valve driving units 138a, 138b and 138c, and a
brake braking force signal line L1 to a brake control circuit 230
are connected to the output port 135. A brake braking force signal
SG1 is transmitted through the brake braking force signal line
L1.
[0062] In the ROM 133, operation (control step) shown in a
flowchart in FIG. 1 and a map shown in FIG. 6 are stored in
advance, and operation of shift control (not shown) is stored. The
control circuit 130 controls gear shift of the automatic
transmission 10 based on input various control conditions.
[0063] The brake device 200 is controlled by the brake control
circuit 230 for inputting the brake braking force signal SG1 from
the control circuit 130, thereby braking the vehicle. The brake
device 200 is provided with a hydraulic control circuit 220 and
brake devices 208, 209, 210 and 211 provided on wheels 204, 205,
206 and 207 of the vehicle, respectively. The brake devices 208,
209, 210 and 211 control braking force of corresponding wheels 204,
205, 206 and 207 by braking hydraulic pressure controlled by the
hydraulic control circuit 220. The hydraulic control circuit 220 is
controlled by the brake control circuit 230.
[0064] The hydraulic control circuit 220 performs the brake control
by controlling the braking hydraulic pressure to be supplied to the
brake devices 208, 209, 210 and 211 based on a brake control signal
SG2. The brake control signal SG2 is generated by the brake control
circuit 230 based on the brake braking force signal SG1. The brake
braking force signal SG1 is output from the control circuit 130 of
the automatic transmission 10 and is input to the brake control
circuit 230. Braking force to be provided to the vehicle at the
time of the brake control is defined by the brake control signal
SG2 generated by the brake control circuit 230 based on various
data included in the brake braking force signal SG1.
[0065] The brake control circuit 230 is composed of a well-known
microcomputer and is provided with a CPU 231, a RAM 232, a ROM 233,
an input port 234, an output port 235 and a common bus 236. The
hydraulic control circuit 220 is connected to the output port 235.
Operation when generating the brake control signal SG2 based on the
various data included in the brake braking force signal SG1 is
stored in the ROM 233. The brake control circuit 230 performs
control of the brake device 200 (brake control) based on input
various control conditions.
[0066] Next, operation of the present embodiment is described with
reference to FIGS. 1 and 2.
[0067] Here, the minimum turning-radius is captured and calculation
permission of the target deceleration is judged.
[0068] In FIG. 2, a reference numeral 401 represents the distance L
to the corner entrance. L is obtained by an equation, initial value
(200 m, in this example)-vehicle speed*sampling time. A reference
numeral 402 represents the road turning-radius transmitted from the
navigation system device 95. A reference numeral 403 represents a
minimum turning-radius capture process precondition. A reference
numeral 404 represents a minimum turning-radius capture process
permission judgment. A reference numeral 405 represents the minimum
turning-radius. A reference numeral 406 represents an actual
vehicle speed. A reference numeral 407 represents the target
turning vehicle speed. A reference numeral 408 represents the
target deceleration. Meanwhile, initial values of the minimum
turning-radius capture process precondition 403 and the minimum
turning-radius capture process permission judgment 404 are set to
OFF.
[0069] Hereinafter, the operation in FIG. 1 is described, and
thereafter FIG. 2 is described in detail.
[0070] [Step S001]
[0071] At a step S001, a road turning-radius grad of the road in
the forward search range of the vehicle set in advance transmitted
from the navigation system device 95 is read. That is to say,
information of the radius grad of one certain point included in one
corner transmitted from the navigation system device 95 is
read.
[0072] In each cycle of a control flow shown in FIG. 1, which is
repeatedly carried out, each time the step S001 is carried out, the
information of the road turning-radius grad along the shape of the
corner, which momentarily changes with respect to one corner, is
transmitted at any time from the navigation system device 95. The
above-described forward search range is 200 m, for example, in an
example shown in FIG. 2.
[0073] [Step S002]
[0074] At a step S002, it is judged whether the road turning-radius
grad(i) read at the above-described step S001 is a value other than
0. As a result of the judgment, when it is judged that the road
turning-radius grad(i) is the value other than 0, a procedure
shifts to a step S003, and if this is not the case, the procedure
shifts to a step S006.
[0075] [Step S003]
[0076] At the step S003, it is judged whether the road
turning-radius grad(i) read at the above-described step 5001
changes from a road turning-radius grad(i-1) read at the
above-described step S001 in a previous cycle of the control flow.
As a result of the judgment, when this is changed, the procedure
shifts to a step S004, and if this is not the case, the procedure
shifts to a step S005. When the value is changed from the value in
the previous cycle, it is judged that this may be a minimum value
of the road turning-radius (minimum turning-radius), and the
procedure shifts to the step S004.
[0077] [Step S004]
[0078] At the step S004, the minimum turning-radius capture process
precondition is set to ON. After the step S004, the procedure
shifts to a step S007.
[0079] [Step S005]
[0080] At the step S005, it is judged whether the road
turning-radius grad(i) (402) read at the above-described step S001
is larger than a first predetermined value r1 set in advance. As a
result of this judgment, when this turns out positive, the
procedure shifts to the step S006, and if this is not the case, the
procedure shifts to the step S007.
[0081] The first predetermined value r1 is a value not smaller than
a second predetermined value r2 to be described later. The first
predetermined value r1 is a threshold value for judging that it is
not necessary to set the minimum turning-radius capture process
precondition 403 to ON when the road turning-radius grad(i) (402)
is larger than the first predetermined value r1.
[0082] [Step S006]
[0083] At the step S006, the minimum turning-radius capture process
precondition 403 is set to OFF. This is because the step S006 is
carried out when the road turning-radius grad(i) read at the
above-described step S001 is 0 (step S002 (No)) or when the road
turning-radius grad(i) read at the above-described step S001 is
larger than the first predetermined value r1 set in advance (step
S005 (No)), and it is not necessary to carry out the capture
process of the minimum turning-radius in such cases. After the step
S006, the procedure shifts to the step S007.
[0084] [Step S007]
[0085] At the step S007, it is judged whether the minimum
turning-radius capture process precondition is set to ON. As a
result of the judgment, when this turns out positive, the procedure
shifts to a step S008, and if this is not the case, the procedure
shifts to a step S013.
[0086] [Step S008]
[0087] At the step S008, it is judged whether the road
turning-radius grad(i) read at the above-described step S001 is not
larger than the second predetermined value r2 set in advance. As a
result of the judgment, when this turns out positive, the procedure
shifts to a step S009, and if this is not the case, the procedure
shifts to a step S012.
[0088] This is because, when the road turning-radius grad(i) is
larger than the second predetermined value r2, the corner control
(deceleration control by the present embodiment, step S016) is not
carried out even if the road turning-radius grad(i) is the minimum
turning-radius. Here, the second predetermined value r2 may be 100
to 200 m, for example.
[0089] [Step S009]
[0090] At the step S009, it is judged whether the minimum
turning-radius capture process precondition was set to OFF in the
previous cycle of the control flow. As a result of this judgment,
when this turns out positive, the procedure shifts to a step S011,
and if this is not the case, the procedure shifts to a step
S010.
[0091] [Step S010]
[0092] At the step S010, it is judged whether the road
turning-radius grad(i) read at the above-described step 5001 is not
larger than a value obtained by subtracting a third predetermined
value r3 set in advance from the road turning-radius grad(i-1) read
at the above-described step S001 in the previous cycle of the
control flow. As a result of this judgment, when this turns out
positive, the procedure shifts to the step S011, and if this is not
the case, the procedure shifts to the step S012.
[0093] At the step S010, it is judged whether the road
turning-radius grad(i) decreases by a value not smaller than the
third predetermined value r3 from the road turning-radius grad(i-1)
in the previous cycle. Here, the third predetermined value r3 is
set to a value such that decrease in the road turning-radius
grad(i) is recognized.
[0094] [Step S011]
[0095] At the step S011, the minimum turning-radius capture process
permission judgment (404) is set to ON. After the step S011, the
procedure shifts to a step S014.
[0096] [Step S012]
[0097] At the step S012, it is judged whether the road
turning-radius grad(i) read at the above-described step 5001 is not
smaller than a value obtained by adding a fourth predetermined
value r4 set in advance to the road turning-radius grad(i-1) read
at the above-described step S001 in the previous cycle. As a result
of the judgment, if this turns out positive, the procedure shifts
to the step S013, and if this is not the case, the procedure shifts
to the step S014.
[0098] At the step S012, it is judged whether the road
turning-radius grad(i) increases by a value not smaller than the
fourth predetermined value r4 from the road turning-radius
grad(i-1) in the previous cycle. Here, the fourth predetermined
value r4 is set to a value such that increase in the road
turning-radius grad(i) is recognized.
[0099] [Step S013]
[0100] At the step S013, the minimum turning-radius capture process
permission judgment 404 is set to OFF. After the step S013, the
step S014 is carried out.
[0101] [Step S014]
[0102] At the step S104, it is judged whether the minimum
turning-radius capture process permission judgment is set to ON. As
a result of the judgment, if it is judged that the minimum
turning-radius capture process permission judgment is set to ON,
the procedure shifts to a step S015, and if this is not the case,
the procedure shifts to a step S016.
[0103] [Step S015]
[0104] At the step S015, the capture process of the minimum
turning-radius 405 is carried out. In the capture process of the
minimum turning-radius 405, the road turning-radius grad(i) read at
the above-described step S001 in each cycle is updated at any time
as the minimum turning-radius 405.
[0105] Also, at the step S015, the target turning vehicle speed 407
is updated. The target turning vehicle speed 407 is obtained as
Vreq [m/s] in the following equation 1. In the following equation
1, by assigning the value of the above-described minimum
turning-radius 405, which is updated at any time, to the corner R,
the target turning vehicle speed 407 is updated at any time.
[Equation 1]
[0106] Vreq= {square root over (R.times.Gyt.times.g)} (1)
where R: corner R[m] Gyt: target lateral G appropriate value (such
as 0.4 G) g: gravity acceleration 9.8[m/s.sup.2].
[0107] Also, at the step S015, the target deceleration 408 is
calculated. In FIG. 2, a first deceleration G1 and a second
deceleration G2 are compared with each other, and as a result of
the comparison, a larger value is set to the target deceleration
408. The first and second decelerations G1 and G2 correspond to
Greqx and Greqy, respectively, in Japanese Patent Application
Laid-open No. 2006-256593. That is to say, the first deceleration
G1 is calculated by the following equation 2. In the following
equation 2, the target turning vehicle speed 407 calculated at the
step S015 is assigned to Vreq, and the first deceleration G1 is
updated at any time depending on the distance L to the corner
entrance. The second deceleration G2 is obtained by the following
equation 3.
[ equation 2 ] G 1 = V 2 - Vreq 2 2 .times. L .times. g ( 2 )
##EQU00001##
where V: current vehicle speed [m/s] L: distance from the vehicle
to the corner entrance [m].
[Equation 3]
[0108] G2=f{.DELTA.Gy} (3)
where .DELTA.Gy: difference between the target lateral G and a
predicted lateral G
.DELTA.Gy=Gyf-Gyt.
[0109] The above-described predicted lateral G is the lateral G
when entering the corner at the current vehicle speed V, and when
the predicted lateral G is set to Gyf, is obtained by the following
equation 4.
[ equation 4 ] Gyf = V 2 R .times. g . ( 4 ) ##EQU00002##
[0110] In the above-described equation 4, the above-described value
of the minimum turning-radius 405 updated at any time is assigned
to R, and thereby the predicted lateral G is updated at any
time.
[0111] For example, the second deceleration G2 may be obtained
based on the lateral G difference .DELTA.Gy according to
relationship (map) set in advance, as shown in FIG. 6.
[0112] While at the step S015 the target deceleration 408 is
obtained, the deceleration control based on the target deceleration
408 is not carried out. During a time period during which the step
S015 is carried out, that is to say, a time period during which the
minimum turning-radius capture process permission judgment 404 is
set to ON (step S014 (Yes)), the road turning-radius grad(i)
decreases from the road turning-radius grad(i-1) in the previous
cycle (step S010 (Yes)), and the minimum turning-radius 405 of the
corner is not defined yet (capture of the minimum turning-radius
405 is not completed yet). Therefore, in this stage, the target
turning vehicle speed 407 changes. Therefore, the deceleration
control is not carried out during the time period in which the step
S015 is carried out.
[0113] [Step S016]
[0114] At the step S016, the start of the deceleration control
based on the target deceleration is permitted. That is to say, as
described above, the target deceleration 408 is obtained based on
the newest minimum turning-radius 405 and target turning vehicle
speed 407 updated at any time at the step S015, and the
deceleration control is started based on the target deceleration
408. That is to say, at the step S016, the update of the minimum
turning-radius 405 and the target turning vehicle speed 407 is not
performed. The target deceleration 408 changes according to the
distance L (401) to the corner entrance, so that the target
deceleration 408 is calculated in the step S016 of each cycle.
After the step S016, this control flow is returned.
[0115] Next, the operation of the present embodiment is described
with reference to FIG. 2.
[0116] [Operation at Time Point T1]
[0117] First, reading of the road turning-radius grad(i) (reference
numeral 402) (step S001) is carried out (started) at timing T1 in
FIG. 2. Then, since the road turning-radius grad(i) (402) is not 0
at the timing T1 (step S002 (Yes)), the procedure shifts to the
step S003. At the timing T1, since the value in the previous cycle
is not present, the step S003 turns out positive and the procedure
shifts to the step S004, the minimum turning-radius capture process
precondition 403 is set to ON, and the step S007 turns out positive
and the procedure shifts to the step S008.
[0118] At the timing T1, since the road turning-radius grad(i)
(402) is larger than the predetermined value r2, the step S008
turns out negative and the procedure shifts to the step S012.
[0119] At a time point T1, since the road turning-radius grad(i)
(402) increases from the road turning-radius grad (i-1) in the
previous cycle, the step S012 turns out positive and the procedure
shifts to the step S013. Then, the minimum turning-radius capture
process permission judgment 404 is set to OFF at the step S013 and
the procedure shifts to the step S014.
[0120] At the time point T1, since the minimum turning-radius
capture process permission judgment 404 is set to OFF, the step
S014 is denied and the procedure shifts to the step S016. At the
step S016, although the deceleration control is started based on
the minimum turning-radius 405 calculated at the step S015 and the
target deceleration calculated based on the target turning vehicle
speed 407, the step S015 is not carried out yet at the time point
T1 and the minimum turning-radius 405 and the target turning-radius
407 are not calculated, so that the target deceleration 408 is not
calculated and the deceleration control is not carried out.
[0121] As described above, the operation at the time point T1 is
such that the step S001.fwdarw.the step S002 (Yes).fwdarw.the step
S003 (Yes).fwdarw.the step S004.fwdarw.the step S007
(Yes).fwdarw.the step S008 (No).fwdarw.the step S012
(Yes).fwdarw.the step S013.fwdarw.the step S014 (No).fwdarw.the
step S016.
[0122] [Time Period after Time Point T1 Until Time Point T2]
[0123] During a time period after the time point T1 until a time
point T2, since the road turning-radius grad(i) (402) read at the
above-described step S001 is not 0, the step S002 turns out
positive and the procedure shifts to the step S003, and since the
road turning-radius grad(i) does not change from the road
turning-radius grad(i-1) read at the above-described step S001 in
the previous cycle, the step S003 turns out negative and the
procedure shifts to the step S005. Since the road turning-radius
grad(i) (402) is not larger than the first predetermined value r1,
the step S005 turns out negative and the procedure shifts to the
step S007.
[0124] That is to say, during the time period after the time point
T1 until the time point T2, the step S006 is not carried out, so
that the minimum turning-radius capture process precondition 403,
which is set to ON at the time point T1, is not set to OFF.
Therefore, the step S007 turns out positive and the procedure
shifts to the step S008.
[0125] During the time period after the time point T1 until the
time point T2, the road turning-radius grad(i) (402) is larger than
the predetermined value r2, so that the step S008 turns out
negative and the procedure shifts to the step S012.
[0126] During the time period after the time point T1 until the
time point T2, the road turning-radius grad(i) (402) does not
increase from the road turning-radius grad (i-1) in the previous
cycle, so that the step S012 turns out negative and the procedure
shifts to the step S014.
[0127] During the time period after the time point T1 until the
time point T2, the minimum turning-radius capture process
permission judgment 404 is set to OFF, so that the step S014 turns
out negative and the procedure shifts to the step S016. At the step
S016, although the deceleration control is started based on the
minimum turning-radius 405 calculated at the step S015 and the
target deceleration calculated based on the target turning vehicle
speed 407, the step S015 is not carried out yet during the time
period after the time point T1 until the time point T2, and the
minimum turning-radius 405 and the target turning vehicle speed 407
are not calculated, so that the target deceleration 408 is not
calculated and the deceleration control is not carried out.
[0128] As described above, the operation after the time point T1
until the time point T2 is such that the step S001.fwdarw.the step
S002 (Yes).fwdarw.the step S003 (No).fwdarw.the step S005
(No).fwdarw.the step S007 (Yes).fwdarw.the step S008
(No).fwdarw.the step S012 (No).fwdarw.the step S014 (No).fwdarw.the
step S016.
[0129] [Time Point T2]
[0130] At the timing T2, since the road turning-radius grad (i)
(402) read at the above-described step S001 is not 0, the step S002
turns out positive and the procedure shifts to the step S003, and
since the road turning-radius grad(i) changes from the road
turning-radius grad(i-1) read at the above-described step S001 in
the previous cycle, the step S003 turns out positive and the
procedure shifts to the step S004. At the step S004, the minimum
turning-radius capture process precondition 403 is set to ON (the
minimum turning-radius capture process precondition 403 is already
set to ON at the time point T2). Therefore, the step S007 turns out
positive and the procedure shifts to the step S008.
[0131] At the time point T2, since the road turning-radius grad(i)
(402) is smaller than the predetermined value r2, the step S008
turns out positive and the procedure shifts to the step S009. At
the time point T2, the minimum turning-radius capture process
precondition 403 is not set to OFF in the previous cycle, the step
S009 turns out negative and the procedure shifts to the step S010.
At the time point T2, since the road turning-radius grad(i) (402)
decreases from the road turning-radius grad(i-1) in the previous
cycle, the step S010 turns out positive and the procedure shifts to
the step S011. Therefore, at the time point T2, the minimum
turning-radius capture process permission judgment (404) is set to
ON (step S011), and the following step S014 turns out positive and
the procedure shifts to the step S015.
[0132] Therefore, at the time point T2, the step S015 is carried
out and the capture process of the minimum turning-radius 405 is
carried out. That is to say, the road turning-radius grad(i) read
at the above-described step 5001 in each cycle is updated at any
time as the minimum turning-radius 405, the target turning vehicle
speed 407 is updated, and the target deceleration 408 is
calculated. At the time point T2, the step S015 has been carried
out, so that the deceleration control is not carried out.
[0133] As described above, the operation at the time point T2 is
such that the step S001.fwdarw.the step S002 (Yes).fwdarw.the step
S003 (Yes).fwdarw.the step S004.fwdarw.the step S007
(Yes).fwdarw.the step S008 (No).fwdarw.the step S009
(No).fwdarw.the step S010 (Yes).fwdarw.the step S011.fwdarw.the
step S014 (Yes).fwdarw.the step S015.
[0134] [Time Period after Time Point T2 Until Time Point T3]
[0135] Operation during a time period after the time point T2 until
a time point T3 is similar to the operation at the above-described
time point T2.
[0136] [Time Point T3]
[0137] At the time point T3, operation in the order of the step
S001.fwdarw.the step S002 (Yes).fwdarw.the step S003
(Yes).fwdarw.the step S004.fwdarw.the step S007 (Yes).fwdarw.the
step S008 (Yes).fwdarw.the step S009 (No) is carried out. At the
time point T3, it is detected that the road turning-radius grad(i)
(402) has stopped decreasing and started increasing. Therefore, at
the time point T3, it is judged that the road turning-radius
grad(i) (402) does not decrease by a value not smaller than the
third predetermined value r3 from the road turning-radius grad(i-1)
in the previous cycle (step S010 (No)), and it is judged that the
road turning-radius grad(i) (402) increases by a value not smaller
than the fourth predetermined value r4 from the road turning-radius
grad (i-1) in the previous cycle (step S012 (Yes)), so that the
procedure shifts to the step S013. At the step S013, when the
minimum turning-radius capture process permission judgment 404 is
set to OFF, the step S014 turns out negative. Thereby, the update
of the minimum turning-radius 405 and the target turning vehicle
speed 407 (step S015) is not carried out, the target deceleration
408 is obtained based on the newest (at the time point T3) minimum
turning-radius 405 and target turning vehicle speed 407 at the step
S016, and the deceleration control is started based on the target
deceleration 408. Thereby, the actual vehicle speed 406 decreases
some time after the time point T3.
[0138] [Time Period after Time Point T3 Until Time Point T4]
[0139] To the middle of a time period after the time point T3 until
a time point T4, the operation is similar to the operation at the
above-described time point T3. From the middle of the time period
after the time point T3 until the time point T4, operation in the
order of the step S001.fwdarw.the step S002 (Yes).fwdarw.the step
S003 (No).fwdarw.the step S005 (No).fwdarw.the step S007
(Yes).fwdarw.the step S008 (Yes).fwdarw.the step S009
(No).fwdarw.the step S010 (No).fwdarw.the step S012 (No).fwdarw.the
step S014 (No).fwdarw.the step S016 is carried out.
[0140] [Time Point T4]
[0141] At the time point T4, since the road turning-radius grad(i)
(402) is 0, the step S002 turns out negative and the procedure
shifts to the step S006, and the minimum turning-radius capture
process precondition 403 is set to OFF. Since the following step
S007 turns out negative, the procedure shifts to the step S013. At
the step S013, the minimum turning-radius capture process
permission judgment 404 is set to OFF (it is already set to OFF at
the time point T3, in this example). In this case, since the step
S014 also turns out negative, the deceleration control is
continuously carried out at the step S016.
[0142] [After Time Point T4]
[0143] After the time point T4, operation is similar to the
operation at the above-described time point T4.
[0144] According to the present embodiment, the following effect
can be obtained.
[0145] According to the present embodiment, the minimum
turning-radius (final updated value of the minimum turning-radius
405) can be captured from the road turning-radius R information,
which momentarily changes with respect to one corner (the road
turning-radius R information according to the corner shape).
Thereby, the target turning vehicle speed is prevented from varying
according to the corner shape of one corner.
Second Embodiment
[0146] Next, a second embodiment is described with reference to
FIG. 3.
[0147] The second embodiment relates to control in a case in which
the small road turning-radius R information is suddenly input such
as a case of recovering from the communication failure. In the
second embodiment, the description of the portion common to the
above-described first embodiment is omitted, and only the
characteristic portion thereof is described.
[0148] In the second embodiment, when the small road turning-radius
R information is suddenly input such as a case of recovering from
the communication failure in the middle of the control, since the
minimum turning-radius capture process precondition 403 of the
previous cycle is set to OFF (step S009 in FIG. 1 (Yes)), the
minimum turning-radius capture process permission judgment 404 is
set to ON (step S011). When the road turning-radius R is within the
predetermined value r2 set in advance (step S008 (Yes)), and the
capture process of the minimum turning-radius is permitted (step
S011), the capture process of the minimum turning-radius is started
(step S014 (Yes), step S015).
[0149] [Before Time Point T6]
[0150] Before a time point T6, since the road turning-radius
grad(i) (402) is read as 0 due to the communication failure, the
step S002 turns out negative and the minimum turning-radius capture
process precondition 403 is set to OFF (step S006). Therefore, the
step S007 turns out negative, and at the step S013, the minimum
turning-radius capture process permission judgment 404 is set to
OFF. Therefore, although the step S014 turns out negative and the
procedure shifts to the step S016, the minimum turning-radius 405
is not captured yet, so that the deceleration control is not
carried out.
[0151] [Time Point T6]
[0152] At the time point T6, the road turning-radius grad(i) (402)
is suddenly input as a small value after recovering from the
communication failure, and the value of the road turning-radius
grad(i) (402) is read at the step S001. Therefore, since the steps
5002 and S003 turn out positive, the minimum turning-radius capture
process precondition 403 is set to ON at the step S004. Therefore,
the following step S007 turns out positive, and since the road
turning-radius grad(i) (402) is smaller than the second
predetermined value r2 at the step S008, this turns out positive
and the procedure shifts to the step S009.
[0153] At the step S009, since the minimum turning-radius capture
process precondition 403 in the previous cycle (before the time
point T6) is set to OFF, this turns out positive. Therefore, the
minimum turning-radius capture process permission judgment 404 is
set to ON at the step S011, and the step S014 turns out positive,
so that the capture process of the minimum turning-radius 405 is
carried out at the step S015.
[0154] [Time Period after Time Point T6 Until Time Point T7]
[0155] Operation during a time period after the time point T6 until
a time point T7 is similar to the operation at the above-described
time point T6.
[0156] [Time Point T7]
[0157] At the time point T7, operation in the order of the step
S001.fwdarw.the step S002 (Yes).fwdarw.the step S003
(Yes).fwdarw.the step S004.fwdarw.the step S007 (Yes).fwdarw.the
step S008 (Yes).fwdarw.the step S009 (No) is carried out. At the
time point T7, it is detected that the road turning-radius grad(i)
(402) has started increasing. Therefore, at the time point T7, it
is judged that the road turning-radius grad(i) (402) does not
decrease by a value not smaller than the third predetermined value
r3 from the road turning-radius grad (i-1) in the previous cycle
(step S010 (No)), and it is judged that the road turning-radius
grad(i) (402) increases by a value not smaller than the fourth
predetermined value r4 from the road turning-radius grad(i-1) in
the previous cycle (step S012 (Yes)), so that the procedure shifts
to the step S013.
[0158] At the step S013, when the minimum turning-radius capture
process permission judgment 404 is set to OFF, the step S014 turns
out negative. Thereby, the update of the minimum turning-radius 405
and the target turning vehicle speed 407 (step S015) is not carried
out, and at the step 5016, the target deceleration 408 is obtained
based on the newest (at the time period T7) minimum turning-radius
405 and the target turning vehicle speed 407, and the deceleration
control is started based on the target deceleration 408. Thereby,
the actual vehicle speed 406 decreases some time after the time
point T7.
[0159] [Time Period after Time Point T7 Until Time Point T8]
[0160] Operation during a time period after the time point T7 until
a time point T8 is similar to the operation at the above-described
time point T7.
[0161] [Time Point T8]
[0162] At the time point T8, since the road turning-radius grad(i)
(402) is 0, the step S002 turns out negative and the procedure
shifts to the step S006, and the minimum turning-radius capture
process precondition 403 is set to OFF. Since the following step
S007 turns out negative, the procedure shifts to the step S013. At
the step S013, the minimum turning-radius capture process
permission judgment 404 is set to OFF (this is already set to OFF
at the time point T7 in this example). In this case, since the step
S014 also turns out negative, so that the deceleration control is
continuously carried out at the step S016.
[0163] [After Time Point T8]
[0164] After the time point T8, the operation is similar to the
operation at the above-described time point T8.
[0165] According to the second embodiment, even when the small road
turning-radius R information is suddenly input such as when
recovering from the communication failure, the minimum
turning-radius can be surely captured.
Third Embodiment
[0166] Next, a third embodiment is described with reference to FIG.
4.
[0167] The third embodiment relates to control in a case in which
the road turning-radius R information suddenly disappears due to
the communication failure or the like and the road turning-radius
R=0. In the third embodiment, the description of the portion common
to the above-described first embodiment is omitted and only the
characteristic portion thereof is described.
[0168] In the above-described first embodiment, the judgment of
capture completion of the minimum turning-radius is performed when
the transmitted road turning-radius R increases (step S012). In the
third embodiment, when the information of the road turning-radius R
suddenly disappears in the middle of the control due to the
communication failure and the road turning-radius R=0, the capture
process of the minimum turning-radius is prohibited and the update
of the minimum turning-radius is stopped (the step S002
(No).fwdarw.the step S006.fwdarw.the step S007 (No).fwdarw.the step
S013).
[0169] [Time Period after Time Point T1 and Before Time Point
T10]
[0170] Operation during a time period after the time point T1 and
before a time point T10 is similar to the operation in
above-described FIG. 2.
[0171] [Time Point T10]
[0172] At the time point T10, the road turning-radius grad(i) (402)
is read as 0 due to the communication failure. Therefore, the step
S002 turns out negative, and the minimum turning-radius capture
process precondition 403 is set to OFF at the step S006. Since the
following step S007 turns out negative, the minimum turning-radius
capture process permission judgment 404 is set to OFF at the step
5013. Thereby, the step S014 turns out negative and the step S016
is carried out. That is to say, the capture process of the minimum
turning-radius is prohibited, the update of the minimum
turning-radius 405 and the target turning vehicle speed 407 (step
S015) is stopped, the target deceleration 408 is obtained based on
the newest (at the time period T10) minimum turning-radius 405 and
target turning vehicle speed 407, and the deceleration control is
started based on the target deceleration 408. Thereby, the actual
vehicle speed 406 decreases some time after the time point T10.
[0173] According to the third embodiment, even when the road
turning-radius R information suddenly becomes 0 due to the
communication failure or the like, it is possible to carry out the
driving force control based on the minimum turning-radius captured
by then without adopting the value at the time of the communication
failure.
[0174] According to the above-described first to third embodiments,
the following technique is disclosed.
[0175] (Item 1)
[0176] A target turning vehicle speed setting apparatus for setting
a target turning vehicle speed (407) based on a corner radius (road
turning-radius grad(i) (402)) obtained from external information
(navigation system device 95), wherein
[0177] a reference radius when setting the target turning vehicle
speed is set to a minimum value (405) of values of the corner
radius at a plurality of points included in a corner obtained from
the external information at any time.
[0178] (Item 2)
[0179] The target turning vehicle speed setting apparatus according
to Item 1, wherein
[0180] an update of the reference radius is started (step S011)
when the value of the corner radius at the plurality of points
included in the corner obtained from the external information at
any time decreases (step S010 (Yes)), and
[0181] the update of the reference radius is finished (step S013)
when the value of the corner radius at the plurality of points
included in the corner obtained from the external information at
any time increases (step S012 (Yes)).
[0182] (Item 3)
[0183] The target turning vehicle speed setting apparatus according
to Item 2, wherein
[0184] the update of the reference radius is finished without
adopting the value of 0 (step S014 (No)), after starting the update
of the reference radius, when the value of the corner radius at the
plurality of points included in the corner obtained from the
external information at any time becomes 0 (step S002 (No)).
[0185] (Item 4)
[0186] The target turning vehicle speed setting apparatus according
to Item 2 or 3, wherein
[0187] the update of the reference radius is started, before
starting the update of the reference radius (step S009 (Yes)), when
the value of the corner radius at the plurality of points included
in the corner obtained from the external information at any time is
not larger than a value set in advance (step S008 (Yes)).
[0188] (Item 5)
[0189] A braking/driving force control apparatus for setting a
target turning vehicle speed based on a corner radius obtained from
external information and controlling braking/driving force based on
the target turning vehicle speed, wherein
[0190] a target turning vehicle speed set by the target turning
vehicle speed setting apparatus according to any one of Items 1 to
4 is used as the target turning vehicle speed.
[0191] (Item 6)
[0192] The braking/driving force control apparatus according to
Item 5, wherein
[0193] braking/driving force control based on the target turning
vehicle speed is permitted when the update of the reference radius
is finished (step S013, step S014 (No)).
INDUSTRIAL APPLICABILITY
[0194] As described above, the target turning vehicle speed setting
apparatus and the braking/driving force control apparatus according
to the present invention are useful as the target turning vehicle
speed setting apparatus and the braking/driving force control
apparatus for setting the target turning vehicle speed when the
vehicle travels a corner based on the radius information of a
plurality of points included in the corner externally transmitted
at any time, and particularly they are suitable for setting a more
appropriate target turning vehicle speed.
* * * * *